"Remember the Time" was generally well received by contemporary music critics. Chris Lacy from Albumism noted that "the warmth and nostalgia" of the song "harkens back to Jackson's
Motown roots".
Stephen Thomas Erlewine, a writer for
AllMusic, commented that
Dangerous had "plenty" of "professional craftsmanship at its peak" because of "such fine singles" like "
In the Closet" and "Remember the Time". Erlewine also listed it as being a highlight from the album. A reviewer from
Cashbox named it Pick of the Week, noting, "This smooth dance ballad sounds like it could have come from the
Off the Wall album and has more of the mouth noise, whoops and hollers that we guess will take Mr. Jackson several more albums to out-grow." Pan-European magazine
Music & Media wrote that it is a "danceable multi-format smash, dedicated to his mentor
Diana Ross."
Jon Pareles of
The New York Times commented that "titles like 'Remember the Time', 'She Drives Me Wild' and '
Give In to Me'" tell the lyrics' "whole story—though they don't suggest the wretched tone he has when he sings them." A writer from
People Magazine said that "the strength of this record stems from bouncy, up-tempo pop" like "Remember the Time".
Alan Light, a writer for
Rolling Stone, stated that he felt it was the "most lighthearted musical track on the album" and described the song's lyrics as telling of a "blissful romance only to ask, 'So why did it end?'" Richard Harrington, a writer for
The Washington Post, described "Remember the Time" as being "wistful", commenting that he felt that the song featured Jackson's "least affected vocal performance" but that it "builds an engaging, radio-friendly momentum". ==Chart performance==